Improving the DWA Algorithm for Epidemic Prevention Robots Based on Road Guidance Lines
摘要
Based on the actual outdoor road environment, this paper processes the road area in the semantic label map to obtain discrete guide points. B-spline curve fitting is employed to obtain road guide lines, which are then introduced into the Dynamic Window Approach (DWA) through an evaluation function, realizing the improvement of DWA-based local path planning for epidemic prevention robots in outdoor road environments. After analyzing the outdoor road environment scene, the characteristics of outdoor roads can be obtained. However, these characteristics cannot be directly applied to the path planning of epidemic prevention robots. It is necessary to process the semantic label map to obtain road guide lines to guide the improvement of DWA algorithm path planning for epidemic prevention robots. The guide lines can provide basic travel directions for robots, improving the efficiency of the improved DWA algorithm for local path planning of epidemic prevention robots.